Interfacing seven DOF Dynamixel based robotic arm to ROS MoveIt!
In this section, we will discuss a 7 DOF robot manipulator called COOL arm-5000, which is manufactured by a company called ASIMOV Robotics (http://asimovrobotics.com/). The robot is built using Dynamixel servos (http://www.robotis.com/xe/dynamixel_en). We will see how to interface a Dynamixel-based robotic arm to ROS using dynamixel_controllers.
The following is a diagram of a COOL arm-5000:
Figure 15 : COOL Arm illustration.
COOL arm robots are fully compatible with ROS and MoveIt! and are mainly used in education and research. The price range is between 5K - 10K USD.
Following are the details of the arms:
- Degree of Freedom: 7 DOF
- Types of Actuators: Dynamixel MX-64 and MX-28
- List of Joints: Shoulder Roll, Shoulder Pitch, Elbow Roll, Elbow Pitch, Wrist Yaw, Wrist Pitch, and Wrist Roll
- Payload: 5K
- Reach: 1 meter
- Work Volume: 2.09 m3
- Repeatability: +/- 0.05 mm
- Gripper with 3 fingers
- ROS support
